Quadruped Robot Kinematics

Quadruped robots are very complex in structure and are harder to control than wheeled and crawler robots. In order to achieve and maintain a certain posture, each of the four legs of the robot is often performing a kinematic behavior that is different from the other legs. Kinematic models are very important tools that help with the stability analysis and trajectory planning of the robot. The basic idea of the kinematic is to describe the motion of a system of linked bodies. In this application, the kinematic model helps define the motion of our robot, namely the motion of each joint, leg, and the main body.

Check out this paper if you are interested!


Gait Generation

Gaits are the patterns of movement that describe how animals control their leg swings and stance. Animals select their gaits based on speed. There has been a study that shows the reason switching gaits can be energetic, durability, biomechanical, environmental, and morphometric.

Check out this paper if you are interested!